}
void
-RRTNode::p(RRTNode& p)
+RRTNode::p(RRTNode& p, bool can_be_too_close)
{
- if (this != &p) {
- this->_p = &p;
+ assert(this != &p);
+ if (!can_be_too_close) {
+ assert(!(std::abs(p.x() - this->x()) < 1e-3
+ && std::abs(p.y() - this->y()) < 1e-3
+ && std::abs(p.h() - this->h()) < 1e-3));
}
+ this->_p = &p;
+ this->p_is_cusp(this->would_be_cusp_if_parent(p));
+ this->cusp_cnt(p);
+}
+
+void
+RRTNode::p(RRTNode& p)
+{
+ return this->p(p, false);
}
unsigned int
-RRTNode::cusp() const
+RRTNode::cusp_cnt() const
{
- return this->_cusp;
+ return this->_cusp_cnt;
}
void
-RRTNode::cusp(RRTNode const& p)
+RRTNode::cusp_cnt(RRTNode const& p)
{
- this->_cusp = p.cusp();
- if (this->sp() != p.sp() || this->sp() == 0.0) {
- this->_cusp++;
+ this->_cusp_cnt = p.cusp_cnt();
+ if (this->_p_is_cusp) {
+ this->_cusp_cnt++;
}
}
this->_segment_type = st;
}
+bool
+RRTNode::p_is_cusp(void) const
+{
+ return this->_p_is_cusp;
+}
+
+void
+RRTNode::p_is_cusp(bool isit)
+{
+ this->_p_is_cusp = isit;
+}
+
+bool
+RRTNode::would_be_cusp_if_parent(RRTNode const& p) const
+{
+ if (std::abs(p.sp()) < 1e-3) {
+ // It should not be possible to have two zero speed nodes next
+ // to each other. In practice, this sometimes happens.
+ //assert(std::abs(this->sp()) > 1e-3);
+ if (p.p()) {
+ if (sgn(p.p()->sp()) != sgn(this->sp())) {
+ return true;
+ } else {
+ return false;
+ }
+ } else {
+ return true; // only root has no parent and it is cusp
+ }
+ } else {
+ if (std::abs(this->sp()) < 1e-3) {
+ return false; // this is cusp, not the parent
+ } else if (sgn(p.sp()) != sgn(this->sp())) {
+ return true;
+ } else {
+ return false;
+ }
+ }
+}
+
bool
RRTNode::operator==(RRTNode const& n)
{
void
RRTS::recompute_cc_for_predecessors_and(RRTNode* g)
{
- assert(this->_path.size() == 0);
+ std::vector<RRTNode*> path;
+ path.reserve(this->_path.size());
while (g != nullptr) {
- this->_path.push_back(g);
+ path.push_back(g);
g = g->p();
}
- std::reverse(this->_path.begin(), this->_path.end());
- for (unsigned int i = 1; i < this->_path.size(); i++) {
- this->_path[i]->c(this->cost_build(
- *this->_path[i - 1],
- *this->_path[i]));
+ std::reverse(path.begin(), path.end());
+ for (unsigned int i = 1; i < path.size(); i++) {
+ path[i]->c(this->cost_build(*path[i - 1], *path[i]));
}
- this->_path.clear();
}
void
RRTNode* t = &this->_nodes.back();
t->p(*f);
t->c(this->cost_build(*f, *t));
- t->cusp(*f);
this->_steered.erase(this->_steered.begin());
f = t;
}
{
RRTNode* f = this->_nn;
RRTNode* t = &this->_steered.front();
+ // Require the steer method to return first node equal to nn:
+ assert(std::abs(t->x() - f->x()) < 1e-3
+ && std::abs(t->y() - f->y()) < 1e-3
+ && std::abs(t->h() - f->h()) < 1e-3);
+ this->_steered.erase(this->_steered.begin());
+ t = &this->_steered.front();
+ assert(!(std::abs(t->x() - f->x()) < 1e-3
+ && std::abs(t->y() - f->y()) < 1e-3
+ && std::abs(t->h() - f->h()) < 1e-3));
#if USE_RRTS
double cost = f->cc() + this->cost_build(*f, *t);
for (auto n: this->nv_) {
t = &this->_nodes.back();
t->p(*f);
t->c(this->cost_build(*f, *t));
- t->cusp(*f);
this->_steered.erase(this->_steered.begin());
return true;
}
this->_bc.set_pose_to(p);
}
+void
+RRTS::set_bc_to_become(std::string what)
+{
+ this->_bc.become(what);
+}
+
RRTGoal const&
RRTS::goal(void) const
{
}
void
-RRTS::start(double x, double y, double h)
+RRTS::set_init_pose_to(Pose const& p)
{
- this->_nodes.front().x(x);
- this->_nodes.front().y(y);
- this->_nodes.front().h(h);
+ this->_nodes.front().x(p.x());
+ this->_nodes.front().y(p.y());
+ this->_nodes.front().h(p.h());
}
std::vector<Pose>
}
Json::Value
-RRTS::json() const
+RRTS::json(void) const
{
Json::Value jvo;
unsigned int i = 0, j = 0;
jvo["paths"][j][i][2] = n.h();
jvo["paths"][j][i][3] = n.sp();
jvo["paths"][j][i][4] = n.st();
+ jvo["paths"][j][i][5] = false;
+ if (n.p_is_cusp()) {
+ assert(i > 0);
+ jvo["paths"][j][i - 1][5] = true;
+ }
i++;
}
+ // Initial point is part of the first segment.
+ jvo["paths"][j][0][3] = jvo["paths"][j][1][3];
+ jvo["paths"][j][0][4] = jvo["paths"][j][1][4];
+ // Goal point is part of the last segment.
+ jvo["paths"][j][i - 1][3] = jvo["paths"][j][i - 2][3];
+ jvo["paths"][j][i - 1][4] = jvo["paths"][j][i - 2][4];
+ // --
jvo["costs"][j] = path.back().cc();
j++;
}
jvo["paths"][j][i][2] = n->h();
jvo["paths"][j][i][3] = n->sp();
jvo["paths"][j][i][4] = n->st();
+ jvo["paths"][j][i][5] = n->p_is_cusp();
jvo["path"][i][0] = n->x();
jvo["path"][i][1] = n->y();
jvo["path"][i][2] = n->h();
jvo["path"][i][3] = n->sp();
jvo["path"][i][4] = n->st();
+ jvo["path"][i][5] = false;
+ if (n->p_is_cusp()) {
+ assert(i > 0);
+ jvo["path"][i - 1][5] = true;
+ }
i++;
}
- jvo["costs"][j] = this->_path.back()->cc();
- j++;
+ // Initial point is part of the first segment.
+ jvo["path"][0][3] = jvo["path"][1][3];
+ jvo["path"][0][4] = jvo["path"][1][4];
+ // Goal point is part of the last segment.
+ jvo["path"][i - 1][3] = jvo["path"][i - 2][3];
+ jvo["path"][i - 1][4] = jvo["path"][i - 2][4];
+ // --
+ if (this->_path.size() > 0) {
+ jvo["costs"][j] = this->_path.back()->cc();
+ }
jvo["goal_cc"] = this->_goal.cc(); // TODO remove, use the following
jvo["cost"] = this->path_cost();
jvo["time"] = this->scnt();
{
assert(jvi["init"] != Json::nullValue);
assert(jvi["goal"] != Json::nullValue);
- this->start(
+ this->set_init_pose_to(Pose(
jvi["init"][0].asDouble(),
jvi["init"][1].asDouble(),
- jvi["init"][2].asDouble());
+ jvi["init"][2].asDouble()));
if (jvi["goal"].size() == 4) {
this->goal(
jvi["goal"][0].asDouble(),
this->join_steered(&this->_nodes.back());
RRTNode* just_added = &this->_nodes.back();
bool gf = false;
- while (ss > 0 && just_added->p() != nullptr) {
+ while (ss > 0 && just_added != nullptr) {
this->steer(*just_added, this->_goal);
if (this->collide_steered()) {
ss--;
just_added = just_added->p();
continue;
}
+ // The first of steered is the same as just_added.
+ this->_steered.erase(this->_steered.begin());
this->join_steered(just_added);
bool gn = this->_goal.edist(this->_nodes.back()) < this->eta();
bool gd = this->goal_drivable_from(this->_nodes.back());
double ncc = this->_nodes.back().cc() + nc;
if (this->_goal.p() == nullptr
|| ncc < this->_goal.cc()) {
- this->_goal.p(this->_nodes.back());
+ this->_goal.p(this->_nodes.back(), true);
this->_goal.c(nc);
gf = true;
}
projects / hubacji1 / iamcar2.git / blobdiff